KR20080016332A - The obstacle zone conquest robot - Google Patents

Abstract

A robot for overcoming an obstacle zone is provided to enhance creditability by forming a second driving unit for lifting the robot with strong force. A robot for overcoming an obstacle zone comprises a main body(10), a first driving unit(20), and a second driving unit(30). The main body, which is combined with a control circuit and plural driving motors, has a first driving part(12) penetrated toward two front sides and a second driving part(13) penetrated toward two rear sides. The first driving unit having corresponding length with the main body, which is separated into two sides of the main body, is driven to be combined with the first driving part. The second driving unit parallel to the first driving unit at two sides of the main body is driven to be combined with the second driving part. The first driving part includes a cylindrical first outer driving shaft having a space inside and a first inner driving shaft rotatably inserted into the first outer driving shaft.

Description

The obstacle zone conquest robot}

1 is a perspective view showing an embodiment of the present invention.

2 is a plan view of FIG.

3 is an enlarged view of a portion A of FIG. 2.

4 is an enlarged view of a portion B of FIG. 2.

5 is a side view of FIG. 1;

Figure 6 shows the operating state of the present invention,

   Figure 6a is a side view showing a first operating state for overcoming the obstacle zone,

   Figure 6b is a side view showing a second operating state for overcoming the obstacle zone,

   Figure 6c is a side view showing a third operating state for overcoming the obstacle zone,

   Figure 6d is a side view showing a first operating state for overcoming the obstacle zone,

   Figure 6e is a side view showing a first operating state for overcoming the obstacle zone,

   Figure 6f is a side view showing a first operating state for overcoming the obstacle zone,

   Figure 6g is a side view showing a first operating state for overcoming the obstacle zone,

   Figure 6h is a side view showing a first operating state for overcoming the obstacle zone.

※ Explanation of codes for main parts of drawing

1: obstacle

10: main body

   11 sensor 12 first drive unit

   121: first external drive shaft 122: first internal drive shaft

   13: second drive unit 131: second external drive shaft

   132: second internal drive shaft 14: camera

   15 mirror

20: first driving means

   21: first frame 22: first driving wheel

   23: first driven wheel 24: first drive belt

   25 bumper

30: second driving means

   31: second frame 32: second drive wheel

   33: second driven wheel 34: second drive belt

The present invention relates to a traveling robot, and more particularly, to a obstacle zone overcoming robot that can smoothly overcome obstacles such as stairs and travel with a simple structure.

In general, a robot is divided into a walking robot having a form similar to that of a human and an animal walking, and a driving robot traveling by using a wheel similar to a vehicle.

In particular, driving robots are easier to manufacture than walking robots and are used in practical tasks because they require fewer parts.

However, the conventional driving robot has a problem that it is very difficult to overcome the obstacles such as stairs or rocks as the main purpose is to drive the flat land, and the robot that can overcome the obstacle zone is very complicated and difficult to manufacture There was a problem.

Accordingly, the present invention has been made in order to solve the above-mentioned conventional problems, the object is to provide an obstacle zone overcoming robot that can smoothly overcome obstacles such as stairs with a simple structure to travel.

In addition, an object of the present invention is to ensure a stable running while the first driving means firmly supports the robot.

In addition, an object of the present invention is to prevent damage to the robot body, and to smoothly rotate the first frame during the obstacle overcoming operation.

It is also an object of the present invention to allow the second driving means to push up the robot with a strong force during the obstacle overcoming operation.

It is also an object of the present invention to facilitate exploration of hazardous areas.

It is also an object of the present invention to observe the front and rear of the robot at the same time with only one camera.

In order to achieve the above object, the present invention is a control circuit of the robot and a plurality of drive motors are coupled, the main body protruding the first driving portion on both sides of the front and the second driving portion on both sides of the rear: and corresponding to the main body A first driving means which is formed to have a length to be spaced apart from both sides of the main body, and is coupled to the first driving part to be rotated and driven; and is disposed in parallel with the first driving means to both sides of the main body, and the second And a second driving means coupled to the driving unit and rotated and driven.

The first driving part may include a cylindrical first outer driving shaft having a space formed therein, and a first inner driving shaft rotatably inserted into the first outer driving shaft.

In addition, the first driving means: the first frame is spaced apart from the main body, coupled to the first outer drive shaft and rotated; and rotatably coupled to the front of the first frame, the first inner drive shaft A first driving wheel coupled to and rotated; and one or more first driven wheels arranged in a line with the first driving wheel; and a first driving belt connecting power of the first driving wheel and the first driven wheel; Characterized in that consisting of.

In addition, the front of the first frame is characterized in that the bumper protruding toward the front of the main body is provided.

The second driving part may include a cylindrical second outer driving shaft having a space portion formed therein, and a second inner driving shaft rotatably inserted into the second outer driving shaft.

The second driving means may include: a second frame spaced apart from the main body and disposed in parallel with the first frame, the second frame being rotated in combination with the second external driving shaft; and rotatably coupled to the rear of the second frame. A second driving wheel which is coupled to the second internal driving shaft and rotates; and one or more second driven wheels arranged in line with the second driving wheel; and connects power of the second driving wheel and the second driven wheel. The second driving belt; characterized in that consisting of.

In addition, the camera is mounted on the upper surface of the main body.

In addition, a mirror is attached to the front side of the camera on the upper surface of the main body.

Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the accompanying drawings.

1 is a perspective view illustrating an embodiment of the present invention, FIG. 2 is a plan view of FIG. 1, FIG. 3 is an enlarged view of portion A of FIG. 2, and FIG. 4 is an enlarged view of portion B of FIG. 2, and FIG. 5 is a side view of FIG. 1, as shown in the present invention, various control circuits of the robot and a plurality of driving motors for moving the robot are built in, and the first driving unit 12 protrudes on both sides of the front side, and the rear side of the second side. The first driving means 20 is coupled to the main body 10 from which the driving unit 13 protrudes, and the first driving unit 20 moves the main body 10 by receiving a driving force while rotating based on the main body 10. And, coupled to the second driving unit 13, the rotational movement relative to the main body 10, including a second driving means 30 for moving the main body 10 by receiving a driving force to smooth the obstacle zone with a simple structure Configured to travel while overcoming.

The main body 10 constitutes a body of the robot, and various control circuits for operating the robot are built in the inside, and a sensor 11 for detecting an obstacle is disposed on the front of the main body 10, and the main body 10 is disposed. The first driving part 12 which is connected to the driving motor and rotates is protruded on both front sides of the), and the second driving part 13 which is connected to the driving motor and is rotating to both rear sides of the main body 10.

The first driving unit 12 has a space portion formed therein, and is inserted into the cylindrical first external driving shaft 121 and the first external driving shaft 121 which are connected to the driving motor of the main body 10 and rotate. It is formed by the first internal drive shaft 122 is connected to the other drive motor and rotated so that the overall rotation of the first drive means 20 is made by the first external drive shaft 121, the first internal drive shaft 122 As a result, the robot can be driven by the first driving means 20.

The first driving means 20 is spaced apart from the main body 10, the first frame 21 is coupled to the first outer drive shaft 121 and rotated, the front of the first frame 21 A first driving wheel 22 rotatably coupled to the first driving wheel 22 and rotated in combination with the first internal driving shaft 122 and in a line with the first driving wheel 22 on the first frame 21. At least one first driven wheel 23 is disposed, and the first driving wheel 22 and the first driving belt 24 for connecting the power of the first driven wheel 23.

Accordingly, when the first external driving shaft 121 is rotated, the entire first driving means 20 is rotated relative to the main body 10 while the first frame 21 is rotated, and the first internal driving shaft 122 is rotated. ) Rotates the first driving wheel 22 and rotates the first driving belt 24 and the first driven wheel 23 so that the robot can move forward or backward.

In addition, the first driving belt 24 is preferably formed of a belt or the like connecting and connecting the first driving wheel 22 and the second driving wheel 32 integrally, a conventional belt for power transmission Alternatively, a chain or the like may be used.

In addition, the front surface of the first frame 21 is provided with a bumper 25 protruding toward the front of the main body 10 to be damaged when the main body 10 is in direct contact with the obstacle when the robot hits the obstacle. While preventing, when the first driving means 20 is rotated relative to the main body 10 to overcome the obstacle, it is preferable to perform the role of a lever for smooth rotation of the first driving means 20.

The second driving part 13 is different from the driving motor in which a space part is formed inside, similarly to the above-described first driving part 12, and inserted into the main body 10 to operate the first driving part 12 described above. It is formed of a cylindrical second external drive shaft 131 that is connected to a separate drive motor and the second internal drive shaft 132 is inserted into the second external drive shaft 131 and rotated in connection with another drive motor. The overall rotation of the second driving means 30 is performed by the second external driving shaft 131, and the robot may be driven by the second driving means 30 by the second internal driving shaft 132.

The second driving means 30 is spaced apart from the main body 10 and disposed in parallel with the first frame 21, and coupled to the second external driving shaft 131 and rotated with the second frame 31. And a second driving wheel 32 rotatably coupled to the front of the second frame 31 and coupled to the second internal driving shaft 132 and rotated on the second frame 31. One or more second driven wheels 33 arranged in a line with the second driving wheels 32, and a second driving belt 34 connecting power of the second driving wheels 32 and the second driven wheels 33. It is composed of

Accordingly, when the second external driving shaft 131 is rotated, the entire second driving means 30 is rotated relative to the main body 10 while the second frame 31 rotates, and the second internal driving shaft 132 is rotated. When the second driving wheel 32 is rotated, the second driving belt 34 and the second driven wheel 33 are rotated so that the robot can move forward or backward.

In addition, the upper surface of the main body 10 is equipped with a conventional camera 14 to facilitate the exploration using a robot that is remotely controlled in an area difficult to access, such as chemical pollution pollution area, the camera ( On the front side of 14), a mirror 15 facing the rear of the robot, which is located within the photographing range of the camera 14, is attached, so that only one camera 14 can simultaneously monitor the front and rear of the robot. Do.

Accordingly, the first driving wheel 22 and the second driving wheel 32 while the first driving means 20 and the second driving means 30 are rotated to a position corresponding to the width of the main body 10. When rotating in the forward direction or the backward direction of the main body 10, the first driving belt 24 and the second driving belt 34 is to be able to move the flat ground.

In addition, by adjusting the rotational speed of the drive means of the left and right of the main body 10, it is possible to adjust even the moving direction of the robot.

6 is a view showing the operating state of the present invention, Figures 6a to 6h is a side view showing a sequential operating state for overcoming the obstacle zone, the present invention configured as described above is first driven as shown in Figure 6a If the sensor 11 detects the obstacle 1 in the middle, the bumper 25 preferentially contacts the obstacle 1, thereby preventing damage to the main body 10.

Thereafter, as shown in FIG. 6B, the first driving means 20 is rotated as a whole, so that the rear end of the first driving means 20 on the opposite side coupled with the first driving part 12 rotates and the front of the main body 10 is rotated. To face the first driving belt 24 abuts the edge of the obstacle (1).

At this time, the rotation of the first driving means 20 is a bumper 25 serves as a lever for the rotation is more smooth rotation, the second driving belt coupled to the second driving means ( 34 is maintained in contact with the ground, the main body 10 is stably supported on the ground.

Thereafter, as shown in FIG. 6C, the first driving means 20 is continuously rotated so that the lower surface of the first driving belt 24 is placed in parallel with the upper surface of the obstacle 1, and in this state, the first driving wheel is rotated. When the 22 and the second driving wheel 32 is rotated in the forward direction of the robot, only the first driving means 20 is able to move forward while being placed on the top surface of the obstacle 1.

Subsequently, as shown in FIG. 6D, when the first driving means 20 completely rises on the top surface of the obstacle 1, the second driving part 30 is rotated as a whole to which the second driving part 13 is coupled. When the opposite end of the second driving means 30 rotates in contact with the ground, the second driving means 30 acts as a lever as a whole to push the main body 10 upward.

In this state, as shown in FIG. 6E, when the first driving wheel 22 and the second driving wheel 32 are rotated in the forward direction at the same time, the main body 10 is completely raised to the upper side of the obstacle 1 while the robot moves forward as a whole. The first driving means 20 can stably support the main body 10.

Thereafter, as shown in FIGS. 6F to 6G, the second driving means 30 is rotated as a whole so that the second driven wheel 33 of the second driving means 30 is spaced apart from the ground, and the second driven wheel 33 is When the lower surface of the second driving belt 34 is in contact with the upper surface of the obstacle 1 in a state of facing the front of the main body 10, the robot is completely raised on the upper surface of the obstacle 1, and in this state, the obstacle 1 It is possible to run on the upper surface of the).

In addition, after passing through the obstacle 1 completely, as shown in FIG. 6H, the first driving means 20 is rotated so that the first driven wheel 23 descends, and the first driven wheel 23 touches the ground. By allowing the robot to move forward, the robot will be able to overcome the obstacle 1 stably and smoothly without being impacted.

In addition, by combining the operation of the first driving means 20 and the second driving means 30 as described above, not only obstacles 1 protruding from the ground, but also obstacles of complicated shape such as stairs can be stably and smoothly passed. It will be possible.

In addition, although the first and second driving units 12 and 13 and the first and second driving units 20 and 30 may be connected to a separate remote controller by wire or wireless, the main body 10 may be operated. A normal inclination sensor is mounted on the inside of the main body, and the sensor for detecting the obstacle 11 in front of the main body and the inclination information sensed by the inclination sensor are transferred to the control circuit so as to automatically detect the obstacle and to overcome the obstacles. It is preferable that the operation of the second driving unit 12, 13 and the first and second driving means 20, 30 is made automatically.

As described above, the present invention provides a robot for overcoming obstacle zones, which can smoothly overcome obstacles such as stairs and travels with a simple structure of the first driving means and the second driving means attached to both sides of the main body. It is easy to manufacture and smoothly travels in various obstacle areas, which enables mass production of robots at low cost and facilitates exploration of various dangerous areas inaccessible to humans.

In addition, the present invention by combining the first driving wheel, the first driven wheel and the first driving belt to the first frame to ensure a stable running while the first driving means firmly supports the robot, the structure is simple but in difficult terrain The stable running is possible, and the reliability of the robot is further increased.

In addition, the present invention is provided with a bumper on the front of the first frame to prevent damage to the robot body, and to smoothly rotate the first frame during the obstacle overcoming operation, such as various sensors attached to the front of the robot In addition to preventing malfunction due to damage, the robot can stably and smoothly overcome the obstacle by performing a lever for rotating the first driving means when passing the obstacle.

In addition, the present invention by combining the second driving wheel, the second driven wheel and the second driving belt in the second frame to the second driving means to push the robot with a strong force during the obstacle overcoming operation, thereby reducing the load on the robot Regardless of the obstacles, the vehicle can smoothly overcome the obstacles and travel.

In addition, the present invention has a camera to the main body to facilitate the exploration of the danger zone, the structure and exploration activities of various NBC contamination areas, such as difficult to access to people has an effect that becomes simpler.

In addition, the present invention by attaching a mirror to the front of the camera to be able to observe the front and rear of the robot at the same time with only one camera, it has the effect of enabling a smooth exploration activity while minimizing the power consumption of the robot.

Claims (8)

The main body 10 is coupled to the control circuit of the robot and a plurality of driving motors, the first driving unit 12 protruding from both front sides, and the second driving unit 13 protruding from both rear sides thereof. The first driving means 20 is formed to have a length corresponding to the main body 10 and spaced apart from both sides of the main body 10 and coupled to the first driving unit 12 to rotate and drive. Overcoming obstacle zones, including: second driving means 30 disposed on both sides of the main body 10 in parallel with the first driving means 20 and coupled to the second driving part 13 to be rotated and driven. robot. The method of claim 1, The first driving unit 12; Obstacle zone overcoming robot, characterized in that consisting of a cylindrical first outer drive shaft 121 is formed in the inner portion and the first inner drive shaft (122) rotatably inserted into the first outer drive shaft (121). The method of claim 2, The first driving means 20: silver A first frame 21 disposed to be spaced apart from the main body 10 and coupled to the first external driving shaft 121 to be rotated; and A first drive wheel 22 rotatably coupled to the front of the first frame 21 and rotated in combination with the first internal drive shaft 122; and At least one first driven wheel 23 disposed in line with the first driving wheel 22; and Obstacle zone overcoming robot, characterized in that consisting of; a first driving belt (24) for connecting the power of the first driving wheel (22) and the first driven wheel (23). The method of claim 3, wherein The obstacle zone overcoming robot, characterized in that the front of the first frame 21 is provided with a bumper (25) protruding forward of the main body (10). The method of claim 1, The second driving unit 13; Obstacle zone overcoming robot, characterized in that consisting of a cylindrical outer second outer drive shaft 131 is formed in the inner portion, and the second inner drive shaft 132 rotatably inserted into the second outer drive shaft (131). The method of claim 5, The second driving means 30: silver A second frame 31 spaced apart from the main body 10 and disposed in parallel with the first frame 21 and rotated in combination with the second external driving shaft 131; and A second driving wheel 32 rotatably coupled to the rear of the second frame 31 and rotated in combination with the second internal driving shaft 132; and At least one second driven wheel 33 disposed in line with the second driving wheel 32; and And a second driving belt (34) connecting the power of the second driving wheel (32) and the second driven wheel (33). The method according to any one of claims 1 to 6, Obstacle zone overcoming robot, characterized in that the camera 14 is mounted on the upper surface of the main body (10). The method of claim 7, wherein The obstacle zone overcoming robot, characterized in that the mirror (15) is attached to the front side of the camera 14 on the upper surface of the main body (10).

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